8 citations · 20 across the 19 of their papers we have counts for
4 papers · 1 filter
Online Estimation of Articulated Objects with Factor Graphs using Vision and Proprioceptive Sensing
Russell Buchanan, Adrian Röfer, João Moura +2
From dishwashers to cabinets, humans interact with articulated objects every day, and for a robot to assist in common manipulation tasks, it must learn a representation of articula…
Few-Shot Learning of Force-Based Motions From Demonstration Through Pre-training of Haptic Representation
Marina Y. Aoyama, João Moura, Namiko Saito +1
In many contact-rich tasks, force sensing plays an essential role in adapting the motion to the physical properties of the manipulated object. To enable robots to capture the under…
Nonprehensile Planar Manipulation through Reinforcement Learning with Multimodal Categorical Exploration
Juan Del Aguila Ferrandis, João Moura, Sethu Vijayakumar
Developing robot controllers capable of achieving dexterous nonprehensile manipulation, such as pushing an object on a table, is challenging. The underactuated and hybrid-dynamics…
OpTaS: An Optimization-based Task Specification Library for Trajectory Optimization and Model Predictive Control
Christopher E. Mower, João Moura, Nazanin Zamani Behabadi +3
This paper presents OpTaS, a task specification Python library for Trajectory Optimization (TO) and Model Predictive Control (MPC) in robotics. Both TO and MPC are increasingly rec…